{"id":"https://openalex.org/W4315750718","doi":"https://doi.org/10.1109/lra.2023.3236586","title":"Model Predictive Control of Autonomous Vehicles With Integrated Barriers Using Occupancy Grid Maps","display_name":"Model Predictive Control of Autonomous Vehicles With Integrated Barriers Using Occupancy Grid Maps","publication_year":2023,"publication_date":"2023-01-12","ids":{"openalex":"https://openalex.org/W4315750718","doi":"https://doi.org/10.1109/lra.2023.3236586"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3236586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3236586","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101998656","display_name":"Minsu Cho","orcid":"https://orcid.org/0000-0003-2498-1109"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minsu Cho","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2498-1109","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068462802","display_name":"Yeongseok Lee","orcid":"https://orcid.org/0000-0002-9999-5946"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeongseok Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-9999-5946","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719031","display_name":"Kyung-Soo Kim","orcid":"https://orcid.org/0000-0003-4856-1096"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyung-Soo Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4856-1096","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4744,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.95010708,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"8","issue":"4","first_page":"2006","last_page":"2013"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.644856333732605},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6360858082771301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850925445556641},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.558458685874939},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5580729842185974},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5276756882667542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5230699181556702},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4936155080795288},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45254066586494446},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4337156116962433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20325157046318054},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17750701308250427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12004697322845459},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10084611177444458},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10014486312866211}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.644856333732605},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6360858082771301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850925445556641},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.558458685874939},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5580729842185974},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5276756882667542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5230699181556702},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4936155080795288},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45254066586494446},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4337156116962433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20325157046318054},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17750701308250427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12004697322845459},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10084611177444458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10014486312866211},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3236586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3236586","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1964946446","https://openalex.org/W1969472392","https://openalex.org/W1988538197","https://openalex.org/W1988888548","https://openalex.org/W2015813246","https://openalex.org/W2027365137","https://openalex.org/W2044263254","https://openalex.org/W2055381865","https://openalex.org/W2062523397","https://openalex.org/W2087617385","https://openalex.org/W2111034649","https://openalex.org/W2122232251","https://openalex.org/W2155700785","https://openalex.org/W2167856595","https://openalex.org/W2403683192","https://openalex.org/W2418368699","https://openalex.org/W2471969791","https://openalex.org/W2564091245","https://openalex.org/W2592597155","https://openalex.org/W2735010720","https://openalex.org/W2762555062","https://openalex.org/W2774021736","https://openalex.org/W2782393959","https://openalex.org/W2806340142","https://openalex.org/W2884509654","https://openalex.org/W2963197721","https://openalex.org/W2970228732","https://openalex.org/W3004162504","https://openalex.org/W3012097656","https://openalex.org/W3044230171","https://openalex.org/W3090460481","https://openalex.org/W3103075896","https://openalex.org/W3120054209","https://openalex.org/W3123819824","https://openalex.org/W3129446121","https://openalex.org/W3172463270","https://openalex.org/W3186317065","https://openalex.org/W4225691553","https://openalex.org/W4226195072","https://openalex.org/W4250589301","https://openalex.org/W4285102592","https://openalex.org/W4313024631","https://openalex.org/W4382935962"],"related_works":["https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572","https://openalex.org/W2291665350","https://openalex.org/W2322281151","https://openalex.org/W2011094784"],"abstract_inverted_index":{"Nonlinear":[0],"model":[1],"predictive":[2],"control":[3,40],"(NMPC)":[4],"is":[5,31],"an":[6,58,69,107],"efficient":[7,34],"and":[8,92,111,159,173,195],"proven":[9],"method":[10,163],"for":[11],"optimization-based":[12],"autonomous":[13],"vehicle":[14],"motion":[15,89,150],"planning.":[16],"Among":[17],"the":[18,21,82,97,103,132,149,160,184,187],"various":[19],"approaches,":[20],"iterative":[22],"linear":[23],"quadratic":[24],"regulator,":[25],"a":[26,32,53,75,113,125,138,156,167],"differential":[27],"dynamic":[28],"programming":[29],"variant,":[30],"well-known":[33],"nonlinear":[35],"optimization":[36,46,66,71],"method.":[37],"In":[38,48,96],"safety-critical":[39],"systems,":[41],"controllers":[42],"should":[43],"address":[44],"inequality-constrained":[45,65],"problems.":[47],"this":[49,64,146],"letter,":[50],"we":[51,100,136],"design":[52,112],"single":[54,76,114,139],"unified":[55],"constraint":[56,115,147],"using":[57,171],"occupancy":[59,108],"grid":[60,109],"map.":[61],"We":[62],"convert":[63],"problem":[67,72],"into":[68,148],"unconstrained":[70],"by":[73,131],"appending":[74],"integrated":[77,140],"discrete":[78,141],"barrier":[79,142],"state":[80,143],"to":[81,144],"system":[83],"model.":[84],"This":[85],"approach":[86],"simplifies":[87],"complex":[88],"planning":[90,151],"problems":[91],"reduces":[93],"computational":[94],"costs.":[95],"proposed":[98,154,188],"method,":[99,155,158,189],"first":[101],"discretize":[102],"surrounding":[104],"environment":[105],"with":[106,121],"map":[110],"that":[116,118],"ensures":[117],"only":[119],"cells":[120],"values":[122],"less":[123],"than":[124],"predefined":[126],"threshold":[127],"can":[128],"be":[129],"traversed":[130],"ego":[133],"vehicle.":[134],"Then,":[135],"define":[137],"introduce":[145],"algorithm.":[152],"The":[153,175],"penalty":[157],"augmented":[161],"Lagrangian":[162],"are":[164],"tested":[165],"on":[166],"real-time":[168],"software-in-the-loop":[169],"simulation":[170,176],"CarMaker":[172],"ROS.":[174],"results":[177],"of":[178,186],"pop-up":[179],"obstacle":[180],"avoidance":[181],"scenarios":[182],"show":[183],"benefits":[185],"such":[190],"as":[191],"reduced":[192],"time":[193],"costs":[194],"increased":[196],"robustness.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
